@InCollection{ UniqueNodeLabels,
	author = "Gabriel Valiente",
	title = "Efficient Algorithms on Trees and Graphs with Unique Node Labels",
	booktitle = "Applied Graph Theory in Computer Vision and Pattern Recognition",
	year = "2007",
	pages = "137--149",
}

@incollection{Kuipers1983a,
 author = {Kuipers, Benjamin and Byun, Yung-Tai},
 chapter = {A robot exploration and mapping strategy based on a semantic hierarchy of spatial representations},
 title = {Toward learning robots},
 editor = {Van de Velde, Walter},
 year = {1993},
 isbn = {0-262-72017-5},
 pages = {47--63},
 numpages = {17},
 publisher = {MIT Press},
 address = {Cambridge, MA, USA},
} 


@ARTICLE{Ranganathan2006, 
author={Ranganathan, A. and Menegatti, E. and Dellaert, F.}, 
journal={Robotics, IEEE Transactions on}, title={Bayesian inference in the space of topological maps}, 
year={2006}, 
month={feb.}, 
volume={22}, 
number={1}, 
pages={ 92 - 107}, 
keywords={ Bayesian inference; Markov-chain Monte Carlo algorithm; appearance measurements; metric maps; odometry; panoramic images; perceptual aliasing; posterior distribution approximation; probabilistic topological map space; sample-based representation; sensor measurements; set partitions; Bayes methods; Markov processes; Monte Carlo methods; distance measurement; probability; robots; sensors; set theory; topology;}, 
}

@conference{Whiting2007topology,
  title={Topology of urban environments},
  author={Whiting, E. and Battat, J. and Teller, S.},
  booktitle={Proc.~of the Computer-aided architectural design futures
    (CAADFutures)},
  pages={115--128},
  year={2007}
  month = jul,
        address = {Sydney, Australia}
month = jul,
address = {Sydney, Australia}
}

@InCollection{ Thrun96h,
	AUTHOR = {S. Thrun and A. B{\"u}cken and W. Burgard and D. Fox and T. Fr{\"o}hlinghaus and D. Henning and T. Hofmann and M. Krell and T. Schmidt},
	YEAR = "1998",
	TITLE = "Map Learning and High-Speed Navigation in \mbox{RHINO}",
	BOOKTITLE = "AI-based Mobile Robots: Case Studies of Successful Robot Systems",
	EDITOR = "D. Kortenkamp and R.P. Bonasso and R Murphy",
	PUBLISHER = "MIT Press"
}

@InProceedings{ Anguelov2004,
	author = "D. Anguelov and D. Koller and E. Parker and S. Thrun",
	booktitle = "Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on",
	title = "Detecting and modeling doors with mobile robots",
	year = "2004",
	month = "26-may 1,",
	volume = "4",
	number = "",
	pages = " 3777--3784 Vol.4",
	keywords = " Pioneer robot, color properties, corridor environments, door detection, door modeling, laser range finder, maximization algorithm, mobile robots, motion properties, omni-directional camera, probabilistic model, real world data, shape properties, wall object detection, image sensors, laser ranging, mobile robots, object detection, optimisation, probability, robot vision",
	doi = "10.1109/ROBOT.2004.1308857",
	ISSN = "1050-4729 "
}

@InCollection{ Mozos2007,
	abstract = "Indoor environments can typically be divided into places with different functionalities like corridors, kitchens, offices, or seminar rooms. We believe that the ability to learn such semantic categories from sensor data or in maps enables a mobile robot to more efficiently accomplish a variety of tasks such as human-robot interaction, path-planning, exploration, or localization. In this work, we first propose an approach based on supervised learning to classify the pose of a mobile robot into semantic classes. Our method uses {AdaBoost} to boost simple features extracted from vision and laser range data into a strong classifier. We furthermore present two main applications of this approach. Firstly, we show how our approach can be utilized by a moving robot for robust online classification of the poses traversed along its path using a hidden Markov model. Secondly, we introduce a new approach to learn topological maps from geometric maps by applying our semantic classification procedure in combination with probabilistic labeling. Experimental results obtained in simulation and with real robots demonstrate the effectiveness of our approach in various environments.",
	address = "Berlin, Heidelberg",
	author = "Oscar Mozos and Cyrill Stachniss and Axel Rottmann and Wolfram Burgard",
	booktitle = "Robotics Research",
	citeulike-article-id = "7730995",
	editor = "Sebastian Thrun and Rodney Brooks and Hugh Durrant-Whyte",
	isbn = "978-3-540-48110-2",
	keywords = "cognitive\_map",
	pages = "453--472--472",
	posted-at = "2010-08-29 19:42:37",
	priority = "2",
	publisher = "Springer Berlin / Heidelberg",
	title = "Using {AdaBoost} for Place Labeling and Topological Map Building",
	volume = "28",
	year = "2007"
}

@InProceedings{ Shatkay1997,
	author = "Hagit Shatkay and Leslie Pack Kaelbling",
	title = "Learning topological maps with weak local odometric information",
	booktitle = "Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2",
	year = "1997",
	isbn = "1-555860-480-4",
	location = "Nagoya, Japan",
	pages = "920--927",
	numpages = "8",
	publisher = "Morgan Kaufmann Publishers Inc.",
	address = "San Francisco, CA, USA"
}

@Article{ Thrun199821,
	title = "Learning metric-topological maps for indoor mobile robot navigation",
	journal = "Artificial Intelligence",
	volume = "99",
	number = "1",
	pages = "21--71",
	year = "1998",
	note = "",
	author = "Sebastian Thrun",
	keywords = "Autonomous robots",
	keywords1 = "Exploration",
	keywords2 = "Mobile robots",
	keywords3 = "Neural networks",
	keywords4 = "Occupancy grids",
	keywords5 = "Path planning",
	keywords6 = "Planning",
	keywords7 = "Robot mapping",
	keywords8 = "Topological maps"
}

@InProceedings{ gSpan,
	author = "Xifeng Yan and Jiawei Han",
	title = "gSpan: Graph-Based Substructure Pattern Mining",
	booktitle = "Proceedings of the 2002 IEEE International Conference on Data Mining",
	series = "ICDM '02",
	year = "2002",
	pages = "721--",
	publisher = "IEEE Computer Society",
	address = "Washington, DC, USA"
}

@Article{ lowe2004ijcv,
	author = "David G. Lowe",
	title = "Distinctive Image Features from Scale-Invariant Keypoints",
	journal = "International Journal of Computer Vision",
	volume = "60",
	number = "2",
	year = "2004"
}

@Article{ Aidala:83,
	author = "V. Aidala and S. Hammel",
	title = "Utilization of modified polar coordinates for bearings-only tracking",
	journal = "IEEE Transactions on Automatic Control",
	year = "1983",
	volume = "28",
	number = "3",
	pages = "283--294",
	month = "March"
}

@PhDThesis{ Ye1998,
	title = "Sensor planning for object search",
	author = "Yiming. Ye",
	year = "1998",
	abstract = "Thesis (Ph. D.)--University of Toronto, 1997.",
	publisher = "Ottawa :National Library of Canada = Biblioth{\`e}que nationale du Canada,",
	institution = "OCLC's Experimental Thesis Catalog [http://alcme.oclc.org/xtcat/servlet/OAIHandler] (United States)"
}

@InProceedings{ Aydemir10a,
	author = "Alper Aydemir and Adrian N. Bishop and Patric Jensfelt",
	title = "Simultaneous Object Class and Pose Estimation for Mobile Robotic Applications with Minimalistic Recognition",
	booktitle = "Proc.~of the IEEE International Conference on Robotics and Automation (ICRA'10)",
	year = 2010,
	month = may
}

@InProceedings{ Aydemir10b,
	author = {Alper Aydemir and Kristoffer Sj{\"o}{\"o} and Patric Jensfelt},
	title = "Object search on a mobile robot using relational spatial information",
	booktitle = "Proc.~of the 11th Int Conference on Intelligent Autonomous Systems (IAS-11)",
	year = 2010,
	month = aug
}

@InProceedings{ Basiri09b,
	author = "Adrian N. Bishop {Meysam Basiri} and Patric Jensfelt",
	title = "Distributed Control of Triangular Sensor Formations with Angle-Only Constraints",
	booktitle = "Proc.~of the Fifth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)",
	year = 2009,
	address = "Melbourne, Australia",
	month = dec
}

@InProceedings{ Welke2009,
	author = {Kai Welke and Tamim Asfour and R{\"u}diger Dillmann},
	title = "Active multi-view object search on a humanoid head",
	booktitle = "ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation",
	year = "2009",
	isbn = "978-1-4244-2788-8",
	pages = "2041--2047",
	location = "Kobe, Japan",
	publisher = "IEEE Press",
	address = "Piscataway, NJ, USA"
}

@Article{ Winkeler1999,
	author = "Jay Winkeler and B.S. Manjunath and S. Chandrasekaran",
	title = "Subset Selection for Active Object Recognition",
	journal = "Computer Vision and Pattern Recognition, IEEE Computer Society Conference on",
	volume = "2",
	issn = "1063-6919",
	year = "1999",
	pages = "2511",
	doi = "http://doi.ieeecomputersociety.org/10.1109/CVPR.1999.784729",
	publisher = "IEEE Computer Society",
	address = "Los Alamitos, CA, USA"
}

@InProceedings{ Hollinger,
	author = "Geoffrey Hollinger and Dave Ferguson and Siddhartha Srinivasa and Sanjiv Singh",
	title = "Combining search and action for mobile robots",
	booktitle = "ICRA'09: Proceedings of the 2009 IEEE international conference on Robotics and Automation",
	year = "2009",
	isbn = "978-1-4244-2788-8",
	pages = "800--805",
	location = "Kobe, Japan",
	publisher = "IEEE Press",
	address = "Piscataway, NJ, USA"
}

@InProceedings{ Andreopoulos,
	author = "Alexander Andreopoulos and John K. Tsotsos",
	title = "A Theory of Active Object Localization",
	booktitle = "IEEE International Conference on Computer Vision",
	year = "2009",
	location = "Kyoto, Japan"
}

@Article{ Kawanishi,
	author = "Takahito Kawanishi and Hiroshi Murase and Shigeru Takagi",
	title = "Quick 3D Object Detection and Localization by Dynamic Active Search with Multiple Active Cameras",
	journal = "Pattern Recognition, International Conference on",
	volume = "2",
	issn = "1051-4651",
	year = "2002",
	pages = "20605",
	doi = "http://doi.ieeecomputersociety.org/10.1109/ICPR.2002.1048375",
	publisher = "IEEE Computer Society",
	address = "Los Alamitos, CA, USA"
}

@InProceedings{ DeyleRFVision,
	author = "Travis Deyle and Hai Nguyen and Matt Reynolds and Charles C. Kemp",
	title = "RF vision: RFID receive signal strength indicator (RSSI) images for sensor fusion and mobile manipulation",
	booktitle = "IROS'09: Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems",
	year = "2009",
	isbn = "978-1-4244-3803-7",
	pages = "5553--5560",
	location = "St. Louis, MO, USA",
	publisher = "IEEE Press",
	address = "Piscataway, NJ, USA"
}

@Article{ Bar93spatialcontext,
	author = "Moshe Bar and Shimon Ullman",
	title = "Spatial Context in Recognition",
	journal = "Perception",
	year = "1993",
	volume = "25",
	pages = "324--352"
}

@Article{ Bar-2004-VOC,
	author = "Moshe Bar",
	journal = "Nature Reviews: Neuroscience",
	month = "August",
	pages = "617--629",
	title = "Visual Objects in Context",
	volume = "5",
	year = "2004",
	theme = "perception",
	project = "vrperformance",
	added-by = "Daniel Acevedo",
	date-added = "Thu January 6 9:53:49 2005"
}

@Article{ Bjorkman,
	author = {Marten Bj{\"o}rkman and Jan-Olof Eklundh},
	title = "Vision in the real world: Finding, attending and recognizing objects",
	journal = "International Journal of Imaging Systems and Technology",
	volume = "16",
	year = "2006",
	pages = "189--208",
	doi = "http://dx.doi.org/10.1002/ima.20087"
}

@Article{ Saidi,
	author = "Francois Saidi and Olivier Stasse and Kazuhito Yokoi",
	title = "Active Visual Search by a Humanoid Robot",
	journal = "Recent Progress in Robotics: Viable Robotic Service to Human",
	volume = "16",
	year = "2009",
	pages = "171--184",
	doi = "http://www.springerlink.com/content/QX048R1M653J0M5J"
}

@Article{ Basiri10a,
	author = "M. Basiri and A.N. Bishop and P. Jensfelt",
	title = "Distributed Control of Triangular Formations with Angle-Only Constraints",
	journal = "Systems \& Control Letters",
	month = feb,
	year = "2010",
	issue = 2,
	pages = "147--154",
	owner = "cogx wp3 y2 dora",
	timestamp = "2010.07.12",
	url = "http://www.nada.kth.se/~patric/publications/BasiriBishopISSNIP09.pdf",
	doi = "doi:10.1016/j.sysconle.2009.12.010",
	abstract = "This paper considers the coupled formation control of three mobile agents moving in the plane. Each agent has only local inter-agent bearing knowledge and is required to maintain a specified angular separation relative to both neighbor agents. Assuming the desired angular separation of each agent relative to the group is feasible, then a triangle is generated. The control law is distributed and accordingly each agent can determine their own control law using only the locally measured bearings. A convergence result is established in this paper which guarantees global asymptotic convergence of the formation to the desired formation shape."
}

@InProceedings{ Boberg09a,
	author = "Anders Boberg and Adrian N. Bishop and Patric Jensfelt",
	title = "Robocentric Mapping and Localization in Modified Spherical Coordinates with Bearing Measurements",
	booktitle = "Proc.~of the Fifth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)",
	year = 2009,
	series = dec,
	address = "Melbourne, Australia"
}

@InProceedings{ bishop2009ecc,
	author = "A.N. Bishop and P. Jensfelt",
	title = "Stochastically Convergent Localization of Objects by Mobile Sensors and Actively Controllable Relative Sensor-Object Pose",
	booktitle = "Proc. of ECC'09",
	year = "2009",
	address = "Budapest, Hungary"
}

@InProceedings{ bishop2009icra,
	author = "A.N. Bishop and P. Jensfelt",
	title = "A Stochastically Stable Solution to the Problem of Robocentric Mapping",
	booktitle = "Proc. of ICRA'09",
	year = "2009",
	address = "Kobe, Japan"
}

@InProceedings{ Bishop09c,
	author = "Adrian N. Bishop and Patric Jensfelt",
	title = "An Optimality Analysis of Sensor-Target Geometries for Signal Strength Based Localization",
	booktitle = "Proc.~of the Fifth International Conference on Intelligent Sensors, Sensor Networks and Information Processing (ISSNIP 2009)",
	year = 2009,
	address = "Melbourne, Australia",
	month = dec
}

@InProceedings{ Bishop10a,
	author = "Adrian N. Bishop and Patric Jensfelt",
	title = "Global robot localization with random finite set statistics",
	booktitle = "Proc.~of FUSION 2010",
	year = 2010,
	month = jul,
	abstract = "We re-examine the problem of global localization of a robot using a rigorous Bayesian framework based on the idea of random finite sets. Random sets allow us to naturally develop a complete model of the underlying problem accounting for the statistics of missed detections and of spurious/erroneously detected (potentially unmodeled) features along with the statistical models of robot hypothesis disappearance and appearance. In addition, no explicit data association is required which alleviates one of the more difficult sub-problems. Following the derivation of the Bayesian solution, we outline its first-order statistical moment approximation, the so called probability hypothesis density filter. We present a statistical estimation algorithm for the number of potential robot hypotheses consistent with the accumulated evidence and we show how such an estimate can be used to aid in re-localization of kidnapped robots. We discuss the advantages of the random set approach and examine a number of illustrative simulations.",
	timestamp = "2010.07.12",
	owner = "cogx y2 wp3 dora"
}

@InProceedings{ pronobis08icra,
	author = "A. Pronobis and O. Martinez Mozos and B. Caputo",
	title = "{SVM}-based Discriminative Accumulation Scheme for Place Recognition",
	booktitle = "Proc. of ICRA'08",
	year = "2008",
	address = "Pasadena, CA, USA"
}

@InProceedings{ Pronobis09a,
	author = {Andrzej Pronobis and Kristoffer Sj{\"o}{\"o} and Alper Aydemir and Adrian N. Bishop and Patric Jensfelt},
	title = "A Framework for Robust Cognitive Spatial Mapping",
	booktitle = "Proc.~of the International Conference on Advanced Robotics (ICAR'09)",
	year = 2009,
	address = "Munich, Germany",
	month = jun
}

@Misc{ Pronobis09b,
	author = {A. Pronobis and K. Sj{\"o}{\"o} and A. Aydemir and A. N. Bishop and P. Jensfelt},
	title = "A framework for robust cognitive spatial mapping",
	howpublished = "Swedish Workshop on Autonomous Robots (SWAR)",
	month = sep,
	year = 2009,
	note = {V{\"a}ster{\aa}s, Sweden}
}

@InBook{ Pronobis09c,
	author = {A. Pronobis and P. Jensfelt and K. Sj{\"o}{\"o} and H. Zender and G.-J. M. Kruijff and O. M. Mozos and  and W. Burgard},
	ALTditor = "H. I. Christensen and A. Sloman and G.-J. M. Kruijff and J. Wyatt",
	title = "Cognitive Systems: Final Report of the CoSy Project",
	chapter = "Semantic modelling of space",
	publisher = "Springer Verlag",
	year = "2009"
}

@Article{ Pronobis09d,
	author = "A. Pronobis and B. Caputo",
	title = "{COLD}: {CO}sy {L}ocalization {D}atabase",
	journal = "The International Journal of Robotics Research (IJRR)",
	year = "2009",
	volume = "28",
	number = "5",
	month = may,
	pages = "588--594",
	doi = "10.1177/0278364909103912",
	url = "http://www.pronobis.pro/publications/pronobis2009ijrr"
}

@Article{ Pronobis10a,
	author = "A. Pronobis and B. Caputo and P. Jensfelt and H. I. Christensen",
	title = "A realistic benchmark for visual indoor place recognition",
	journal = "Robotics and Autonomous Systems",
	year = 2010,
	volume = 58,
	number = 1,
	pages = "81--96",
	month = jan,
	abstract = "An important competence for a mobile robot system is the ability to localize and perform context interpretation. This is required to perform basic navigation and to facilitate local specific services. Recent advances in vision have made this modality a viable alternative to the traditional range sensors and visual place recognition algorithms emerged as a useful and widely applied tool for obtaining information about robot’s position. Several place recognition methods have been proposed using vision alone or combined with sonar and/or laser. This research calls for standard benchmark datasets for development, evaluation and comparison of solutions. To this end, this paper presents two carefully designed and annotated image databases augmented with an experimental procedure and extensive baseline evaluation. The databases were gathered in an uncontrolled indoor office environment using two mobile robots and a standard camera. The acquisition spanned across a time range of several months and different illumination and weather conditions. Thus, the databases are very well suited for evaluating the robustness of algorithms with respect to a broad range of variations, often occurring in real-world settings. We thoroughly assessed the databases with a purely appearance-based place recogni- tion method based on Support Vector Machines and two types of rich visual features (global and local)."
}

@Article{ Pronobis10b,
	author = "A. Pronobis and O. Martinez Mozos and B. Caputo and  and P. Jensfelt",
	title = "Multi-modal semantic place classification",
	journal = "The International Journal of Robotics Research (IJRR)",
	year = "2010",
	OPTkey = "",
	volume = "29",
	number = "2-3",
	pages = "298--320",
	month = feb,
	doi = "doi:10.1177/0278364909356483",
	abstract = "The ability to represent knowledge about space and its position therein is crucial for a mobile robot. To this end, topological and semantic descriptions are gaining popularity for augmenting purely metric space representations. In this paper we present a multi-modal place classification system that allows a mobile robot to identify places and recognize semantic categories in an indoor environment. The system effectively utilizes information from different robotic sensors by fusing multiple visual cues and laser range data. This is achieved using a high-level cue integration scheme based on a Support Vector Machine (SVM) that learns how to optimally combine and weight each cue. Our multi-modal place classification approach can be used to obtain a real-time semantic space labeling system which integrates information over time and space. We perform an extensive experimental evaluation of the method for two different platforms and environments, on a realistic off-line database and in a live experiment on an autonomous robot. The results clearly demonstrate the effectiveness of our cue integration scheme and its value for robust place classification under varying conditions."
}

@Article{ Pronobis10c,
	author = "Andrzej Pronobis and Jie Luo and Barbara Caputo",
	title = "The More You Learn, the Less You Store: Memory-controlled Incremental {SVM} for Visual Place Recognition",
	journal = "Image and Vision Computing (IMAVIS)",
	month = mar,
	year = "2010",
	doi = "10.1016/j.imavis.2010.01.015",
	url = "http://www.pronobis.pro/publications/pronobis2010imavis",
	owner = "cogx y2 dora KTH",
	timestamp = "2010.03.01"
}

@InProceedings{ Pronobis10d,
	title = "Representing Spatial Knowledge in Mobile Cognitive Systems",
	author = {Andrzej Pronobis and Kristoffer Sj{\"o}{\"o} and Alper an d Bishop Adrian N. Aydemir and Patric Jensfelt},
	booktitle = "11th International Conference on Intelligent Autonomous Systems ( IAS-11)",
	year = "2010",
	month = aug,
	address = "Ottawa, Canada",
	abstract = "A cornerstone for cognitive mobile agents is to represent the vast body of knowledge about space in which they operate. In order to be robust and efficient, such representation must address requirements imposed on the integrat ed system as a whole, but also resulting from properties of its components. In t his paper, we carefully analyze the problem and design a structure of a spatial knowledge representation for a cognitive mobile system. Our representation is la yered and represents knowledge at different levels of abstraction. It deals with complex, cross-modal, spatial knowledge that is inherently uncertain and dynami c. Furthermore, it incorporates discrete symbols that facilitate communication w ith the user and components of a cognitive system. We present the structure of t he representation and propose concrete~instantiations.",
	url = "http://www.pronobis.pro/publications/pronobis2010ias"
}

@TechReport{ pronobis/etal:2010-tr,
	Address = "Stockholm, Sweden",
	Author = {Andrzej Pronobis and Kristoffer Sj{\"o}{\"o} and Alper Aydemir and Adrian N. Bishop and Patric Jensfelt},
	Institution = {Kungliga Tekniska h{\"o}gskolan (KTH), CVAP/CAS},
	Month = mar,
	Number = "TRITA-CSC-CV 2010:1 CVAP 316",
	Title = "Representing Spatial Knowledge in Mobile Cognitive Systems",
	Year = "2010"
}

@InProceedings{ Sjoeoe10a,
	author = {Kristoffer Sj{\"o}{\"o} and Alper Aydemir and Patric Jensfelt},
	title = "Mechanical support as a spatial abstraction for mobile robots",
	booktitle = "Proc.~of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10)",
	year = 2010,
	month = oct
}

@Article{ Sjoeoe10b,
	author = {Kristoffer Sj{\"o}{\"o} and Alper Aydemir and Andrzej Pronobis and Patric Jensfelt},
	title = "TBD",
	journal = "The International Journal of Robotics Research",
	year = "subm-2010"
}

@Article{ cummins2008ijrr,
	author = "Mark Cummins and Paul Newman",
	title = "{FAB-MAP}: Probabilistic Localization and Mapping in the Space of Appearance",
	journal = "The International Journal of Robotics Research",
	volume = "27",
	number = "6",
	year = "2008"
}

@InProceedings{ SimhonDudek,
	title = "A global topological map formed by local metric maps",
	author = "S. Simhon and G. Dudek",
	journal = "Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on",
	year = "1998",
	month = "Oct",
	volume = "3",
	number = "",
	pages = "1708--1714 vol.3",
	keywords = "distance measurement, mobile robots, path planning, reliability, sonar, topologyglobal topological map, hybrid topological-metric model, islands of reliability, large scale static environments, local metric maps, local reference frame, placement criteria, quantitative environment information",
	doi = "10.1109/IROS.1998.724844"
}

month = jul,

address = {Sydney, Australia}
}

@InProceedings{ Kuipers04LocalMapsInSSH,
	title = "Local Metrical and Global Topological Maps in the Hybrid Spatial Semantic Hierarchy",
	year = "2004",
	author = "Benjamin Kuipers and Joseph Modayil and Patrick Beeson and Matt MacMahon and Francesco Savelli",
	OPTbooktitle = "IEEE International Conference on Robotics and Automation (ICRA 2004)",
	OPTaddress = "New Orleans, USA",
	OPTannote = "Local spatial maps taking the place of views in the SSH, avoiding hill-climbing"
}

@Article{ zender2008ras,
	author = "Hendrik Zender and {\'O}scar Mart{\'i}nez Mozos and Patric Jensfelt and Geert-Jan M. Kruijff and Wolfram Burgard",
	title = "Conceptual Spatial Representations for Indoor Mobile Robots",
	journal = "Robotics and Autonomous Systems",
	publisher = "Elsevier",
	doi = "10.1016/j.robot.2008.03.007",
	volume = "56",
	number = "6",
	pages = "493--502",
	month = "June",
	year = "2008"
}

@TechReport{ ZenderSpatialTechRep2010,
	author = "Hendrik Zender",
	title = "Multi-Layered Conceptual Spatial Mapping",
	institution = "DFKI GmbH",
	year = "2010",
	OPTkey = "",
	OPTtype = "",
	OPTnumber = "",
	OPTaddress = "",
	OPTmonth = "",
	OPTnote = "",
	OPTannote = ""
}

@TechReport{ thrun,
	author = "Albert S. Huang and Seth Teller",
	title = "Non-Metrical Navigation Through Visual Path Control"
}

@Article{ Latombe,
	author = "J{\'e}r\^{\i}me Barraquand and Jean-Claude Latombe",
	title = "Robot motion planning: a distributed representation approach",
	journal = "Int. J. Rob. Res.",
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	number = "6",
	year = "1991",
	issn = "0278-3649",
	pages = "628--649",
	doi = "http://dx.doi.org/10.1177/027836499101000604",
	publisher = "Sage Publications, Inc.",
	address = "Thousand Oaks, CA, USA"
}

@InProceedings{ torralba03contextbased,
	AUTHOR = "A. Torralba and K. P. Murphy and W. T. Freeman and M. A. Rubin",
	TITLE = "Context-based vision system for place and object recognition",
	BOOKTITLE = "Proceedings of the International Conference on Computer Vision (ICCV)",
	YEAR = "2003",
	ADDRESS = "Nice, France"
}

@InProceedings{ bay06surf,
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@Article{ dissanayake:07,
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@InProceedings{ julier:01,
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@Article{ Eustice:06,
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@Article{ Walter:07,
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@Article{ Castellanos:07,
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}

@Article{ Estrada:05,
	author = "Estrada C. and Neira J. and Tardos J.D.",
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@Article{ slamreview1,
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@Article{ slamreview2,
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@InProceedings{ lee_wijesoma_guzman,
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@Article{ montiel_civera_davison,
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@InProceedings{ Bailey:06,
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@Book{ Levinson03SpaceInLanguageAndCognition,
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@Misc{ OMICS,
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@Book{ Regier96HumanSemanticPotential,
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@Article{ Torralba06contextualguidance,
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\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%\%
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@InProceedings{ Leonard90a,
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